Aerotech Automation1 iXL5e Manuale utente

Revision 1.07

Automation1 iXL5e and XL5e High-Performance

Linear Digital Drives

HARDWAREMANUAL

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Table of Contents

Automation1 iXL5e and XL5e High-Performance Linear Digital Drives 1

Table of Contents 3

List of Figures 5

List of Tables 7

EU Declaration of Conformity 9

Agency Approvals 10

Safety Procedures and Warnings 11

Handling and Storage 13

Installation Overview 14

Chapter 1: iXL5e/XL5e Overview 17

1.1. Electrical Specifications 22

1.2. Mechanical Specifications 23

1.2.1. Mounting and Cooling 23

1.2.2. Dimensions 24

1.3. Environmental Specifications 26

1.4. Drive and Software Compatibility 26

Chapter 2: Installation and Configuration 27

2.1. Input Power Connections 27

2.1.1. Control Supply Connector 27

2.1.2. Motor Supply Connector 28

2.2. Motor Power Output Connector 29

2.2.1. Brushless Motor Connections 30

2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 31

2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 32

2.2.2. DCBrush Motor Connections 33

2.2.2.1. DC Brush Motor Phasing 34

2.2.3. Stepper Motor Connections 35

2.2.3.1. Stepper Motor Phasing 35

2.2.4. Three Phase Stepper Motor Connections 36

2.2.4.1. Stepper Motor Phasing 36

2.3. Feedback Connector 37

2.3.1. Primary Encoder Inputs 38

2.3.1.1. Square WaveEncoder (Primary) 39

2.3.1.2. Absolute Encoder (Primary) 40

2.3.1.3. Sine Wave Encoder (Primary) [-MX2/-MX3 Option] 41

2.3.1.4. Encoder Phasing 43

2.3.2. Hall-Effect Inputs 44

2.3.3. Thermistor Input 45

2.3.4. Encoder Fault Input 46

2.3.5. End of Travel and Home Limit Inputs 47

2.3.5.1. End of Travel and Home Limit Phasing 49

2.3.6. Brake Outputs 50

2.4. Safe Torque Off Input (STO) 51

2.4.1. STOStandards 53

2.4.2. STO Functional Description 54

2.4.3. STO Startup Validation Testing 55

2.4.4. STO Diagnostics 56

2.5. Auxiliary I/O Connector 57

2.5.1. Auxiliary Encoder Interface 58

2.5.1.1. Square WaveEncoder (Auxiliary) 59

2.5.1.2. Absolute Encoder (Auxiliary) 60

2.5.1.3. Sine Wave Encoder (Auxiliary) [-MX3 Option] 61

2.5.2. Position Synchronized Output (PSO) 63

2.5.3. Digital Outputs 65

2.5.4. Digital Inputs 68

2.5.5. High-Speed Inputs 70

2.5.6. Analog Output 0 71

Hardware Manual iXL5e/XL5e

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2.5.7. Analog Input 0 (Differential) 72

2.6. Brake Power Supply Connector 73

2.7. HyperWire Interface 74

2.8. Sync Port 75

2.9. Industrial Ethernet (iXL5e Only) 75

2.10. System Interconnection 76

2.11. PC Configuration and Operation Information 79

Chapter 3: -EB1 Option Expansion Board 81

3.1. Digital Outputs [-EB1] 82

3.2. Digital Inputs [-EB1] 86

3.3. Analog Outputs [-EB1] 89

3.4. Analog Inputs [-EB1] 90

3.5. PSOInterface [-EB1] 91

Chapter 4: Cables and Accessories 93

4.1. Joystick Interface 94

4.2. Handwheel Interface 96

Chapter 5: Maintenance 97

5.1. Preventative Maintenance 98

5.2. Fuse Specifications 99

Appendix A: Warranty and Field Service 101

Appendix B: Voltage Selection Operation 103

Appendix C: Revision History 105

Index 107

iXL5e/XL5e Hardware Manual

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List of Figures

Figure 1-1: iXL5e High Performance Linear Amplifier 17

Figure 1-2: XL5e High Performance Linear Amplifier 18

Figure 1-3: Functional Diagram 21

Figure 1-4: Dimensions 24

Figure 1-5: Dimensions [-EB1] 25

Figure 2-1: Control Supply Connections 27

Figure 2-2: Motor Supply Connections 28

Figure 2-3: Brushless Motor Configuration 30

Figure 2-4: Positive Motor Direction 31

Figure 2-5: Encoder and Hall Signal Diagnostics 31

Figure 2-6: Brushless Motor Phasing Oscilloscope Example 32

Figure 2-7: Brushless Motor Phasing Goal 32

Figure 2-8: DC Brush Motor Configuration 33

Figure 2-9: DC Brush Motor Configuration 33

Figure 2-10: Positive Motor Direction 34

Figure 2-11: Stepper Motor Configuration 35

Figure 2-12: Positive Motor Direction 35

Figure 2-13: Three Phase Stepper Motor Configuration 36

Figure 2-14: Positive Motor Direction 36

Figure 2-15: Square Wave Encoder Schematic (Feedback Connector) 39

Figure 2-16: Absolute Encoder Schematic (Feedback Connector) 40

Figure 2-17: Sine Wave Encoder Phasing Reference Diagram 41

Figure 2-18: Sine Wave Encoder Schematic (Feedback Connector) 42

Figure 2-19: Encoder Phasing Reference Diagram (Standard) 43

Figure 2-20: Position Feedback in the DiagnosticDisplay 43

Figure 2-21: Hall-Effect Inputs Schematic (Feedback Connector) 44

Figure 2-22: Thermistor Input Schematic (Feedback Connector) 45

Figure 2-23: Encoder Fault Input Schematic (Feedback Connector) 46

Figure 2-24: End of Travel and Home Limit Input Connections 48

Figure 2-25: End of Travel and Home Limit Input Schematic (Feedback Connector) 48

Figure 2-26: End of Travel and Home Limit Input Diagnostic Display 49

Figure 2-27: Brake Connected to the 25-Pin Feedback Connector (Typical) 50

Figure 2-28: Typical STO Configuration 52

Figure 2-29: STO Timing 56

Figure 2-30: Square Wave Encoder Interface (Aux I/OConnector) 59

Figure 2-31: Absolute Encoder Schematic (Auxiliary I/O Connector) 60

Figure 2-32: Sine Wave Encoder Phasing Reference Diagram 61

Figure 2-33: Sine Wave Encoder Schematic (Auxiliary I/OConnector) 62

Figure 2-34: PSO Interface 64

Figure 2-35: Digital Output Schematic (Aux I/OConnector) 66

Figure 2-36: Digital Outputs Connected in Current Sourcing Mode 67

Figure 2-37: Digital Outputs Connected in Current Sinking Mode 67

Figure 2-38: Digital Inputs Schematic (Aux I/OConnector) 68

Figure 2-39: Digital Inputs Connected to Current Sourcing Devices 69

Figure 2-40: Digital Inputs Connected to Current Sinking Devices 69

Figure 2-41: High-Speed Inputs 70

Figure 2-42: Analog Output 0 Schematic 71

Figure 2-43: Analog Input 0 Schematic 72

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Figure 2-44: Drive-Based System Wiring Drawing (Best Practice) 76

Figure 2-45: PC-Based System Wiring Drawing (Best Practice) 76

Figure 2-46: Drive-Based Controller System Interconnection (Best Practice) 77

Figure 2-47: PC-Based Controller System Interconnection (Best Practice) 78

Figure 3-1: -EB1 I/O Option Board Connectors (iXL5e shown) 81

Figure 3-2: Digital Outputs Schematic [-EB1] 84

Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1] 85

Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1] 85

Figure 3-5: Digital Inputs Schematic [-EB1] 87

Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 88

Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 88

Figure 3-8: Analog Output Typical Connection [-EB1] 89

Figure 3-9: Analog Input Typical Connection [-EB1] 90

Figure 3-10: PSO Output Sources Current 92

Figure 3-11: PSOOutput Sinks Current 92

Figure 3-12: PSO TTLOutputs Schematic 92

Figure 4-1: Two Axis Joystick Interface (to the Aux I/O of two drives) 94

Figure 4-2: Two Axis Joystick Interface (to the I/Oboard) 95

Figure 4-3: Handwheel Interconnection to Aux I/O Connector 96

Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module 96

Figure B-1: Voltage Selection Switch Access 104

iXL5e/XL5e Hardware Manual

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List of Tables

Table 1-1: FeatureSummary 19

Table 1-2: Linear Amplifier Specifications 22

Table 1-3: Mounting Specifications 23

Table 1-4: Environmental Specifications 26

Table 1-5: Drive and Software Compatibility 26

Table 2-1: Control Supply Connector Pinout 27

Table 2-2: Control Supply Mating Connector Ratings 27

Table 2-3: Motor Supply Connector Pinout 28

Table 2-4: Motor Supply Mating Connector Ratings 28

Table 2-5: Motor Power Output Connector Pinout 29

Table 2-6: Motor Power Output Mating Connector Ratings 29

Table 2-7: Wire Colors for Aerotech-Supplied Brushless Motor Cables 30

Table 2-8: Hall Signal Diagnostics 31

Table 2-9: DC Brush Voltage Output Configuration 33

Table 2-10: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 33

Table 2-11: Wire Colors for Aerotech-Supplied Stepper Motor Cables 35

Table 2-12: Feedback Connector Pinout 37

Table 2-13: Feedback Mating Connector Ratings 37

Table 2-14: Multiplier Options 38

Table 2-15: Primary Encoder Pins on the Feedback Connector 38

Table 2-16: Square Wave Encoder Specifications 39

Table 2-17: Sine Wave Encoder Specifications 41

Table 2-18: Hall-Effect Feedback Pins on the Feedback Connector 44

Table 2-19: Thermistor Input Pin on the Feedback Connector 45

Table 2-20: Encoder Fault Input Pin on the Feedback Connector 46

Table 2-21: End of Travel and Home Limit Pins on the Feedback Connector 47

Table 2-22: Brake Output Pins on the Feedback Connector 50

Table 2-23: Brake Control Specifications 50

Table 2-24: STO Connector Pinout 51

Table 2-25: STOMating ConnectorRatings 51

Table 2-26: STOElectrical Specifications 52

Table 2-27: STOStandards 53

Table 2-28: STOStandards Data 53

Table 2-29: STOSignal Delay 55

Table 2-30: Motor Function Relative to STOInput State 55

Table 2-31: STOTiming 56

Table 2-32: Auxiliary I/O Connector Pinout 57

Table 2-33: Auxiliary I/OMating Connector Ratings 57

Table 2-34: Auxiliary Encoder Pins on the Auxiliary I/OConnector 58

Table 2-35: Square Wave Encoder Specifications 59

Table 2-36: Sine Wave Encoder Specifications 61

Table 2-37: PSO Specifications 63

Table 2-38: PSOPins on the Auxiliary I/OConnector 63

Table 2-39: Digital Output Specifications 65

Table 2-40: Digital Output Pins on the Auxiliary I/O Connector 65

Table 2-41: Digital Input Specifications 68

Table 2-42: Digital Input Pins on the Auxiliary I/O Connector 68

Table 2-43: High-Speed Input Specifications 70

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Table 2-44: High-Speed Input Pins on the Auxiliary I/O Connector 70

Table 2-45: Analog Output Specifications 71

Table 2-46: Analog Output Pins on the Auxiliary I/O Connector 71

Table 2-47: Analog Input Specifications 72

Table 2-48: Analog Input Pins on the Auxiliary I/O Connector 72

Table 2-49: Brake Power Supply Connector Pinout 73

Table 2-50: Brake Power Supply Mating Connector Ratings 73

Table 2-51: HyperWire Card Part Number 74

Table 2-52: HyperWire Cable Part Numbers 74

Table 2-53: Sync-Related Functions 75

Table 2-54: SyncPort Cables 75

Table 3-1: Digital Output Specifications [-EB1] 82

Table 3-2: Digital Output 1 Connector Pinout [-EB1] 83

Table 3-3: Digital Output 2 Connector Pinout [-EB1] 83

Table 3-4: Digital Output 1 and 2 Mating Connector Ratings [-EB1] 83

Table 3-5: Digital Input Specifications [-EB1] 86

Table 3-6: Digital Input 1 Connector Pinout [-EB1] 86

Table 3-7: Digital Input 2 Connector Pinout [-EB1] 87

Table 3-8: Digital Input 1 and 2 Mating Connector Ratings [-EB1] 87

Table 3-9: Analog Output Specifications [-EB1] 89

Table 3-10: Analog Output Connector Pinout [-EB1] 89

Table 3-11: Analog Output Mating Connector Ratings [-EB1] 89

Table 3-12: Differential Analog Input Specifications [-EB1] 90

Table 3-13: Analog Input Connector Pinout [-EB1] 90

Table 3-14: Analog Input Mating Connector Ratings [-EB1] 90

Table 3-15: PSO Specifications [-EB1] 91

Table 3-16: PSO Interface Connector Pinout [-EB1] 91

Table 3-17: PSO Interface Mating Connector Ratings [-EB1] 91

Table 4-1: Standard Interconnection Cables 93

Table 5-1: LEDDescription 97

Table 5-2: Troubleshooting 97

Table 5-3: Preventative Maintenance 98

Table 5-4: Fuse Specifications 99

iXL5e/XL5e Hardware Manual

8 www.aerotech.com

EU Declaration of Conformity

Manufacturer Aerotech, Inc.

Address 101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Product iXL5e/XL5e

Model/Types All

This is to certify that the aforementioned product is in accordance with the applicable requirements

of the following directive(s):

2014/30/EU Electromagnetic Compatibility (EMC)

2014/35/EU Low Voltage Directive

2006/42/EC Machinery Directive

2011/65/EU RoHS 2 Directive

EU 2015/863 Amendment RoHS 3 Directive

and has been designed to be in conformity with the applicable requirements of the following

standard(s) when installed and used in accordance with the manufacturer’s supplied installation

instructions.

EN 61010-1:2010/AMD1:2016 Safety Requirements for Electrical Equipment

EN 61800-3:2017 EMCRequirements for Power Drives

IEC 61800-5-1:2016 Electrical Safety for Power Drive Systems

IEC 61800-5-2:2016 Functional Safety for Power Drive Systems

EN 55011/55032:2015 Conducted and Radiated Emissions

Authorized

Representative / Simon Smith, European Director

Aerotech Ltd

The Old Brick Kiln, Ramsdell, Tadley

Hampshire RG26 5PR

Engineer Verifying

Compliance / Alex Weibel

Aerotech, Inc.

101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Date 7/25/2022

Hardware Manual iXL5e/XL5e

www.aerotech.com 9

Agency Approvals

Aerotech tested its iXL5e/XL5e drives and found that they obey the standards that follow:

Approval: CUS NRTL

Approving Agency: TUV SUD America Inc.

Certificate #: U10 068995 0033 Rev. 00

Standards: CSA C22.2 No. 61010-1:2012/A1:2018-11,

UL 61010-1:2012/R2019-07

Certificate #: N8AUS 068995 0032 Rev. 01

Standards: CE Attestation of Conformity,

Low Voltage Directive 2014/35/EU,

EN 61010-1:2010/AMD1:2019

Visit https://www.tuev-sued.de/product-testing/certificates to view Aerotech's TÜV SÜD certificates.

Type the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech

certificates.

iXL5e/XL5e Hardware Manual

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